﻿namespace SaiPuLSCoffee.model
{
    internal class Robot2Model
    {
        private static Robot2Model instance;
        private Robot2Model() { }

        public static Robot2Model Instance
        {
            get
            {
                if (instance == null)
                {
                    instance = new Robot2Model();
                }
                return instance;
            }
        }
        #region 右臂写指令
        /// <summary>
        /// 品1 开
        /// </summary>
        public string RobotP1R_UP { get; set; } = "04 05 00 30 FF 00 8C 60";
        /// <summary>
        /// 品1 关
        /// </summary>
        public string RobotP1R_Down { get; set; } = "04 05 00 30 00 00 CD 90";
        /// <summary>
        /// 品2 开
        /// </summary>
        public string RobotP2R_UP { get; set; } = "04 05 00 31 FF 00 DD A0";
        /// <summary>
        /// 品2 关
        /// </summary>
        public string RobotP2R_Down { get; set; } = "04 05 00 31 00 00 9C 50";
        /// <summary>
        /// 品3 开
        /// </summary>
        public string RobotP3R_UP { get; set; } = "04 05 00 32 FF 00 2D A0";
        /// <summary>
        /// 品3 关
        /// </summary>
        public string RobotP3R_Down { get; set; } = "04 05 00 32 00 00 6C 50";
        /// <summary>
        /// 品4 开
        /// </summary>
        public string RobotP4R_UP { get; set; } = "04 05 00 33 FF 00 7C 60";
        /// <summary>
        /// 品4 关
        /// </summary>
        public string RobotP4R_Down { get; set; } = "04 05 00 33 00 00 3D 90";
        /// <summary>
        /// 取杯1 开
        /// </summary>
        public string RobotQB1R_UP { get; set; } = "04 05 00 34 FF 00 CD A1";
        /// <summary>
        /// 取杯1 关
        /// </summary>
        public string RobotQB1R_Down { get; set; } = "04 05 00 34 00 00 8C 51";
        /// <summary>
        /// 取杯2 开
        /// </summary>
        public string RobotQB2R_UP { get; set; } = "04 05 00 35 FF 00 9C 61";
        /// <summary>
        /// 取杯2 关
        /// </summary>
        public string RobotQB2R_Down { get; set; } = "04 05 00 35 00 00 DD 91";
        /// <summary>
        /// 去接冰 开
        /// </summary>
        public string RobotQJBR_UP { get; set; } = "04 05 00 36 FF 00 6C 61";
        /// <summary>
        /// 去接冰 关
        /// </summary>
        public string RobotQJBR_Down { get; set; } = "04 05 00 36 00 00 2D 91";
        /// <summary>
        /// 去萃取准备 开
        /// </summary>
        public string RobotQCQZBR_UP { get; set; } = "04 05 00 37 FF 00 3D A1";
        /// <summary>
        /// 去萃取准备 关
        /// </summary>
        public string RobotQCQZBR_Down { get; set; } = "04 05 00 37 00 00 7C 51";
        /// <summary>
        /// 去粉碗1萃取 开
        /// </summary>
        public string RobotQFW1CQR_UP { get; set; } = "04 05 00 38 FF 00 0D A2";
        /// <summary>
        /// 去粉碗1萃取 关
        /// </summary>
        public string RobotQFW1CQR_Down { get; set; } = "04 05 00 38 00 00 4C 52";
        /// <summary>
        /// 去粉碗2萃取 开
        /// </summary>
        public string RobotQFW2CQR_UP { get; set; } = "04 05 00 39 FF 00 5C 62";
        /// <summary>
        /// 去粉碗2萃取 关
        /// </summary>
        public string RobotQFW2CQR_Down { get; set; } = "04 05 00 39 00 00 1D 92";
        /// <summary>
        /// 去搅拌1 开
        /// </summary>
        public string RobotQJB1R_UP { get; set; } = "04 05 00 3A FF 00 AC 62";
        /// <summary>
        /// 去搅拌1 关
        /// </summary>
        public string RobotQJB1R_Down { get; set; } = "04 05 00 3A 00 00 ED 92";
        /// <summary>
        /// 去搅拌2 开
        /// </summary>
        public string RobotQJB2R_UP { get; set; } = "04 05 00 3B FF 00 FD A2";
        /// <summary>
        /// 去搅拌2 关
        /// </summary>
        public string RobotQJB2R_Down { get; set; } = "04 05 00 3B 00 00 BC 52";
        /// <summary>
        /// 去交杯1 开
        /// </summary>
        public string RobotJB1R_UP { get; set; } = "04 05 00 3C FF 00 4C 63";
        /// <summary>
        /// 去交杯1 关
        /// </summary>
        public string RobotJB1R_Down { get; set; } = "04 05 00 3C 00 00 0D 93";
        /// <summary>
        /// 去交杯2 开
        /// </summary>
        public string RobotJB2R_UP { get; set; } = "04 05 00 3D FF 00 1D A3";
        /// <summary>
        /// 去交杯2 关
        /// </summary>
        public string RobotJB2R_Down { get; set; } = "04 05 00 3D 00 00 5C 53";
        /// <summary>
        /// 品萃取到交杯12 开
        /// </summary>
        public string RobotPCQDJB12R_UP { get; set; } = "04 05 00 3E FF 00 ED A3";
        /// <summary>
        /// 品萃取到交杯12 关
        /// </summary>
        public string RobotPCQDJB12R_Down { get; set; } = "04 05 00 3E 00 00 AC 53";
        /// <summary>
        /// 品萃取到交杯3 开
        /// </summary>
        public string RobotPCQDJB3R_UP { get; set; } = "04 05 00 3F FF 00 BC 63";
        /// <summary>
        /// 品萃取到交杯3 关
        /// </summary>
        public string RobotPCQDJB3R_Down { get; set; } = "04 05 00 3F 00 00 FD 93";
        /// <summary>
        /// 萃取到原点 开
        /// </summary>
        public string RobotCQDYDR_UP { get; set; } = "04 05 00 40 FF 00 8D BB";
        /// <summary>
        /// 萃取到原点 关
        /// </summary>
        public string RobotCQDYDR_Down { get; set; } = "04 05 00 40 00 00 CC 4B";
        /// <summary>
        /// 搅拌完成 开
        /// </summary>
        public string RobotJBWCR_UP { get; set; } = "04 05 00 41 FF 00 DC 7B";
        /// <summary>
        /// 搅拌完成 关
        /// </summary>
        public string RobotJBWCR_Down { get; set; } = "04 05 00 41 00 00 9D 8B";
        /// <summary>
        /// 去粉碗1取杯 开
        /// </summary>
        public string RobotQFW1QBR_UP { get; set; } = "04 05 00 42 FF 00 2C 7B";
        /// <summary>
        /// 去粉碗1取杯 关
        /// </summary>
        public string RobotQFW1QBR_Down { get; set; } = "04 05 00 42 00 00 6D 8B";
        /// <summary>
        /// 去粉碗2取杯 开
        /// </summary>
        public string RobotQFW2QBR_UP { get; set; } = "04 05 00 43 FF 00 7D BB";
        /// <summary>
        /// 去粉碗2取杯 关
        /// </summary>
        public string RobotQFW2QBR_Down { get; set; } = "04 05 00 43 00 00 3C 4B";
        /// <summary>
        /// 原点到萃取 开
        /// </summary>
        public string RobotYDDCQR_UP { get; set; } = "04 05 00 44 FF 00 CC 7A";
        /// <summary>
        /// 原点到萃取 关
        /// </summary>
        public string RobotYDDCQR_Down { get; set; } = "04 05 00 44 00 00 8D 8A";
        #endregion
        #region 右臂查指令
        /// <summary>
        /// 原点
        /// </summary>
        public string RobotYDR_Sel { get; set; } = "04 02 00 10 00 01 B8 5A";
        /// <summary>
        /// 取杯完成
        /// </summary>
        public string RobotQBWCR_Sel { get; set; } = "04 02 00 11 00 01 E9 9A";
        /// <summary>
        /// 到达接冰
        /// </summary>
        public string RobotDDJBR_Sel { get; set; } = "04 02 00 12 00 01 19 9A";
        /// <summary>
        /// 到萃取准备
        /// </summary>
        public string RobotDCQZBR_Sel { get; set; } = "04 02 00 13 00 01 48 5A";
        /// <summary>
        /// 到粉碗1
        /// </summary>
        public string RobotDFW1R_Sel { get; set; } = "04 02 00 14 00 01 F9 9B";
        /// <summary>
        /// 到粉碗2
        /// </summary>
        public string RobotDFW2R_Sel { get; set; } = "04 02 00 15 00 01 A8 5B";
        /// <summary>
        /// 到达搅拌1
        /// </summary>
        public string RobotDDJB1R_Sel { get; set; } = "04 02 00 16 00 01 58 5B";
        /// <summary>
        /// 到达搅拌2
        /// </summary>
        public string RobotDDJB2R_Sel { get; set; } = "04 02 00 17 00 01 09 9B";
        /// <summary>
        /// 交杯1完成
        /// </summary>
        public string RobotJB1WCR_Sel { get; set; } = "04 02 00 18 00 01 39 98";
        /// <summary>
        /// 交杯2完成
        /// </summary>
        public string RobotJB2WCR_Sel { get; set; } = "04 02 00 19 00 01 68 58";
        /// <summary>
        /// 杯已拿走1
        /// </summary>
        public string RobotBYNZ1R_Sel { get; set; } = "04 02 00 1A 00 01 98 58";
        /// <summary>
        /// 杯已拿走2
        /// </summary>
        public string RobotBYNZ2R_Sel { get; set; } = "04 02 00 1B 00 01 C9 98";
        #endregion
    }
}
